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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <util/delay.h>
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#include <avr/eeprom.h>
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#include "configuration.h"
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#include "eeprom.h"
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#include "timer0.h"
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int16_t variables[8] = {0,0,0,0,0,0,0,0};
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fc_param_t dynamicParams = {48,251,16,58,64,8,150,150,2,10,{0,0,0,0,0,0,0,0},100,70,90,65,64,100,0,0,0};
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uint8_t CPUType = ATMEGA644;
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uint8_t BoardRelease = 13;
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/************************************************************************
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 * Map the parameter to pot values                                    
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 ************************************************************************/
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void configuration_applyVariablesToParams(void) {
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  uint8_t i;
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#define SET_POT_MM(b,a,min,max) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;} if(b<=min) b=min; else if(b>=max) b=max;}
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#define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}}
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  SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight);
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  SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100);
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  SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100);
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  SET_POT(dynamicParams.Height_ACC_Effect,staticParams.Height_ACC_Effect);
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  SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect);
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  SET_POT_MM(dynamicParams.GyroP,staticParams.GyroP,10,255);
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  SET_POT(dynamicParams.GyroI,staticParams.GyroI);
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  SET_POT(dynamicParams.GyroD,staticParams.GyroD);
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  SET_POT(dynamicParams.IFactor,staticParams.IFactor);
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  for (i=0; i<sizeof(staticParams.UserParams1); i++) {
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    SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]);
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  }
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  for (i=0; i<sizeof(staticParams.UserParams2); i++) {
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    SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]);
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  }
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  SET_POT(dynamicParams.ServoPitchControl,staticParams.ServoPitchControl);
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  SET_POT(dynamicParams.LoopGasLimit,staticParams.LoopGasLimit);
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  SET_POT(dynamicParams.AxisCoupling1,staticParams.AxisCoupling1);
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  SET_POT(dynamicParams.AxisCoupling2,staticParams.AxisCoupling2);
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  SET_POT(dynamicParams.AxisCouplingYawCorrection,staticParams.AxisCouplingYawCorrection);
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  SET_POT(dynamicParams.DynamicStability,staticParams.DynamicStability);
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  SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255);
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  SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255);
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#if defined (USE_MK3MAG)
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  SET_POT(dynamicParams.NaviGpsModeControl,staticParams.NaviGpsModeControl);
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  SET_POT(dynamicParams.NaviGpsGain,staticParams.NaviGpsGain);
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  SET_POT(dynamicParams.NaviGpsP,staticParams.NaviGpsP);
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  SET_POT(dynamicParams.NaviGpsI,staticParams.NaviGpsI);
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  SET_POT(dynamicParams.NaviGpsD,staticParams.NaviGpsD);
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  SET_POT(dynamicParams.NaviGpsACC,staticParams.NaviGpsACC);
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  SET_POT_MM(dynamicParams.NaviOperatingRadius,staticParams.NaviOperatingRadius,10, 255);
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  SET_POT(dynamicParams.NaviWindCorrection,staticParams.NaviWindCorrection);
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  SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation);
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#endif
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  SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl);
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}
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uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values
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  uint8_t CPUType = ATMEGA644;
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  if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P;  // initial Values for 644P after reset
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  return CPUType;
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}
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/*
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 * Automatic detection of hardware components is not supported in this development-oriented
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 * FC firmware. It would go against the point of it: To enable alternative hardware
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 * configurations with otherwise unsupported components. Instead, one should write
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 * custom code + adjust constants for the new hardware, and include the relevant code
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 * from the makefile.
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 * However - we still do detect the board release. Reason: Otherwise it would be too
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 * tedious to have to modify the code for how to turn on and off LEDs when deploying
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 * on different HW version....
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 */
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uint8_t getBoardRelease(void) {
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  uint8_t BoardRelease = 13;
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  // the board release is coded via the pull up or down the 2 status LED
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  PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
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  DDRB  &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input
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  _delay_loop_2(1000); // make some delay
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  switch( PINB & ((1<<PINB1)|(1<<PINB0))) {
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    case 0x00:
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      BoardRelease = 10; // 1.0
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      break;
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    case 0x01:
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      BoardRelease = 11; // 1.1 or 1.2
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      break;
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    case 0x02:
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      BoardRelease = 20; // 2.0
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      break;
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    case 0x03:
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      BoardRelease = 13; // 1.3
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      break;
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    default:
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      break;
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    }
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  // set LED ports as output
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  DDRB |= (1<<DDB1)|(1<<DDB0);
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  RED_ON;
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  GRN_OFF;
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  return BoardRelease;
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}
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void beep(uint16_t millis) {
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  BeepTime = millis;
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}
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/*
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 * Make [numbeeps] beeps.
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 */
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void beepNumber(uint8_t numbeeps) {
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  while(numbeeps--) {
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    if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren!
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    beep(100); // 0.1 second
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    Delay_ms(250); // blocks 250 ms as pause to next beep,
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    // this will block the flight control loop,
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    // therefore do not use this function if motors are running
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  }
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}
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/*
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 * Beep the R/C alarm signal
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 */
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void beepRCAlarm(void) {
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  if(BeepModulation == 0xFFFF) { // If not already beeping an alarm signal (?)
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    BeepTime = 15000; // 1.5 seconds
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    BeepModulation = 0x0C00;
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  }
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}
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/*
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 * Beep the I2C bus error signal
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 */
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void beepI2CAlarm(void) {
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  if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN)) {
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    BeepTime = 10000; // 1 second
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    BeepModulation = 0x0080;
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  }
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}
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/*
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 * Beep the battery low alarm signal
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 */
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void beepBatteryAlarm(void) {
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  BeepModulation = 0x0300;
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  if(!BeepTime) {
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    BeepTime = 6000; // 0.6 seconds
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  }
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}
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/*
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 * Beep the EEPROM checksum alarm
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 */
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void beepEEPROMAlarm(void) {
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  BeepModulation = 0x0007;
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  if(!BeepTime) {
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    BeepTime = 6000; // 0.6 seconds
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  }
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}